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Sub: Add AP_Stats 

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
This commit is contained in:
Willian Galvani 2023-02-20 17:12:17 -03:00
parent efc7b4b6ee
commit d31f0d2312
6 changed files with 37 additions and 1 deletions
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14
ArduSub/ArduSub.cpp
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@ -101,6 +101,9 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75, 75), SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75, 75),
#endif #endif
#if STATS_ENABLED == ENABLED
SCHED_TASK(stats_update, 1, 200, 76),
#endif
#ifdef USERHOOK_FASTLOOP #ifdef USERHOOK_FASTLOOP
SCHED_TASK(userhook_FastLoop, 100, 75, 78), SCHED_TASK(userhook_FastLoop, 100, 75, 78),
#endif #endif
@ -347,4 +350,15 @@ bool Sub::get_wp_crosstrack_error_m(float &xtrack_error) const
return true; return true;
} }
#if STATS_ENABLED == ENABLED
/*
update AP_Stats
*/
void Sub::stats_update(void)
{
g2.stats.set_flying(motors.armed());
g2.stats.update();
}
#endif
AP_HAL_MAIN_CALLBACKS(&sub); AP_HAL_MAIN_CALLBACKS(&sub);

6
ArduSub/Parameters.cpp
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@ -622,7 +622,11 @@ const AP_Param::Info Sub::var_info[] = {
2nd group of parameters 2nd group of parameters
*/ */
const AP_Param::GroupInfo ParametersG2::var_info[] = { const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if STATS_ENABLED == ENABLED
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
#endif
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED
// @Group: PRX // @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp

5
ArduSub/Parameters.h
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@ -5,6 +5,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Gripper/AP_Gripper.h> #include <AP_Gripper/AP_Gripper.h>
#include <AP_Stats/AP_Stats.h>
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.h> #include <AP_Scripting/AP_Scripting.h>
@ -318,6 +319,10 @@ public:
class ParametersG2 { class ParametersG2 {
public: public:
ParametersG2(void); ParametersG2(void);
#if STATS_ENABLED == ENABLED
// vehicle statistics
AP_Stats stats;
#endif
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

2
ArduSub/Sub.h
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@ -573,6 +573,8 @@ private:
bool surface_init(void); bool surface_init(void);
void surface_run(); void surface_run();
void stats_update();
uint16_t get_pilot_speed_dn() const; uint16_t get_pilot_speed_dn() const;
void convert_old_parameters(void); void convert_old_parameters(void);

6
ArduSub/config.h
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@ -190,6 +190,12 @@
# define LOGGING_ENABLED ENABLED # define LOGGING_ENABLED ENABLED
#endif #endif
// Statistics
#ifndef STATS_ENABLED
# define STATS_ENABLED (AP_STATS_ENABLED ? ENABLED : DISABLED)
#endif
// Default logging bitmask // Default logging bitmask
#ifndef DEFAULT_LOG_BITMASK #ifndef DEFAULT_LOG_BITMASK
# define DEFAULT_LOG_BITMASK \ # define DEFAULT_LOG_BITMASK \

5
ArduSub/system.cpp
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@ -19,6 +19,11 @@ void Sub::init_ardupilot()
can_mgr.init(); can_mgr.init();
#endif #endif
#if STATS_ENABLED == ENABLED
// initialise stats module
g2.stats.init();
#endif
// init cargo gripper // init cargo gripper
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
g2.gripper.init(); g2.gripper.init();